A novel sensorless vector control method is proposed to PMSM based on sliding mode observer (SMO),which uses fuzzy control and a Kalman filter, overcoming the problem of chattering and phase delay in conventional SMO. In this paper, the position and speed of the rotor is obtained by an adaptive fuzzy SMO and a Kalman filter, the Lyapunov function is used to prove the reliability of the adaptive fuzzy SMO. A fuzzy control system is designed to adjust the gain of the sliding mode dynamically, which is able to reduce the chattering problem and improve the dynamic performance of the system. Meanwhile, a Kalman filter is designed to eliminate high frequency components and the system measurement noises in the back EMF, which is able to avoid the problem of phase delay and improve the observation precision of the system. The simulation results demonstrate the feasibility of the proposed method.